Deformable search robot in ruins

Abstract

A deformable search robot in ruins, comprising: a sealed compartment; support assemblies provided on the side walls of the sealed compartment and configured to support the sealed compartment; track modules provided at the bottoms of the support assemblies and configured to drive the sealed compartment to move; and planetary joint modules provided inside the sealed compartment, wherein the planetary joint modules are connected to the support assemblies located in the advancing direction, so as to drive the support assemblies to perform axial rotational motion. The two planetary joint modules are incorporated inside the sealed compartment, enabling adjustable poses of the front track modules, thereby enhancing the climbing capability and the obstacle-crossing capability of the robot, and implementing various pose transformations of the robot, facilitating traversal across diverse terrain scenarios.

Description

A deformable ruins search robot Technical Field

[0001] The present invention belongs to the field of intelligent robots, and in particular relates to a deformable ruins searching robot for emergency rescue. Background Art

[0002] In recent years, the world has entered a period of geological activity. In 2023 alone, 19 earthquakes of magnitude 7 or greater occurred worldwide, including 18 earthquakes of magnitude 5 or greater in my country, causing significant casualties and economic losses. Furthermore, the collapse of buildings and damage caused by earthquakes have greatly complicated post-disaster emergency rescue efforts. Compared to the large-scale application of industrial robots in industries like automotive and precision machining, the number and scale of rescue robots are almost negligible. However, once disasters such as earthquakes and mudslides occur, robots are the only ones required to carry out complex tasks such as detection and rescue. Therefore, the development of debris search robots is of great practical significance. However, some existing emergency rescue search robots on the market have a single mode of movement, are subject to certain scenario limitations, and their maneuverability still needs to be improved.

[0003] Summary of the Invention

[0004] In order to improve the robot's passability and search capabilities in ruins scenes, the present invention provides a multifunctional deformable ruins search robot, which adopts a multi-motor combination movement mode to realize the robot's various motion configurations, which is used to achieve travel and passability in different scenes. Different motor control modes are used to realize different motion postures of the track wheels, forming a combination of track motion and wheel motion.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problem is to provide a deformable ruins search robot, comprising:

[0006] Sealed cabin;

[0007] A support assembly is provided on the side wall of the sealed cabin and is used to support the sealed cabin;

[0008] A crawler module, provided at the bottom of the support assembly, for driving the sealed cabin to move; and

[0009] The planetary joint module is arranged inside the sealed cabin. The planetary joint module is connected to the support assembly located in the forward direction, driving the support assembly to perform axial rotational motion.

[0010] According to the present invention, further, the track module includes a rotating component and a track arranged on the rotating component, the rotating component is connected to a rocker motor, the rocker motor is connected to the corresponding support assembly, and provides power to the support assembly to rotate around the planetary joint module.

[0011] According to the present invention, further, the rotating component includes a driving shaft synchronous pulley and a driven shaft synchronous pulley that rotates with the driving shaft synchronous pulley, and tracks are provided on the periphery of both, which transmit motion as the driving shaft synchronous pulley rotates.

[0012] According to the present invention, further, the opposite side surfaces of the driving shaft synchronous pulley are respectively provided with inner track plates and outer track plates parallel to each other, and a track support bearing rotating shaft is provided between the two. The two ends of the track support bearing rotating shaft in the length direction are respectively connected to the opposite side surfaces of the inner track plate and the outer track plate, and a track support bearing is installed on the track support bearing rotating shaft. The support bearing is tangent to the surface of the track, and the support bearing rotates with the movement of the track.

[0013] According to the present invention, further, the support assembly includes a front rocker arm support connecting plate and a rear rocker arm support connecting plate arranged on two opposite side surfaces of the sealed cabin, and the rear rocker arm support connecting plate is located on the rear side of the front rocker arm support connecting plate.

[0014] According to the present invention, further, the rocker arm motor is respectively connected and fixed to the corresponding two front rocker arm support connecting plates and two rear rocker arm support connecting plates through the rocker arm rotating motor mounting block.

[0015] According to the present invention, further, the track module includes a left front track module, a right front track module arranged opposite to the left front track module, and a rear left track module and a rear right track module located behind the left front track module and the right front track module.

[0016] According to the present invention, further, the sealed cabin is a cavity structure, and the cavity is partitioned with an electric control module for controlling the start and stop of the entire machine and motion control and a sensor module for searching for ruins.

[0017] According to the present invention, the electronic control module further includes a power switch to realize the start and stop of the entire deformable ruins search robot; an emergency stop button to control the effective and safe emergency stop protection of the robot; a battery to power the entire robot; a charging port to power the battery; an industrial computer, arranged in the rear cavity of the sealed cabin, for the overall control of the robot system; and a CAN to ETHERCAT module for communication interaction of internal devices.

[0018] According to the present invention, the sensing module further includes: a gas sensor for detecting the gas environment around the robot and detecting the presence of toxic gases, which is used by rescuers at the rear to assess the rescue; a wide-angle camera for assisting in observing the robot's motion path and the factory situation, which is used by rescuers at the rear to plan the rescue route; a thermal imaging camera for on-site temperature detection and observing the body temperature of trapped people, which facilitates rescuers at the rear to determine the safety status of trapped people; an antenna installed above the sealed cabin to realize remote control of the robot; and a communication module that enables two-way voice communication between the rear operator and the rescued people. Thus, the robot's exploration, reconnaissance and remote control functions are realized.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention adopts multi-posture adjustment capabilities and adds two planetary joint modules inside the sealed cabin, so that the posture of the front track module is adjustable, which improves the robot's climbing ability and obstacle crossing ability, and can realize multiple transformation functions of the robot's posture, which is conducive to passing through different terrain scenes.

[0021] 2. The present invention adopts a multi-compartment separation design, and the overall protection design is IP67. The separation design is conducive to improving the waterproof ability of the robot.

[0022] 3. The wheel-track module of the present invention adopts a quick-change structure, which can realize three motion configurations: wheel type, track type and paddle type through rapid disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a schematic structural diagram of a deformable ruins-searching robot according to the present invention;

[0024] FIG2 is a schematic diagram of the interior of a sealed cabin according to the present invention;

[0025] FIG3 is a schematic diagram of the crawler module structure of the present invention;

[0026] FIG4 is a schematic diagram of the structure of the electric control module of the present invention;

[0027] Explanation of the accompanying drawings: 1-sealed cabin, 2-track, 3-cabin cover, 4-sensor module, 5-interactive cabin cover, 6-front rocker arm support connecting plate, 7-battery compartment cover, 8-sealing gasket, 9-rear right track module, 10-rear left track module, 11-rear rocker arm support connecting plate, 12-left front track module, 13-right front track module, 14-planetary joint module flange, 15-front left planetary joint module, 16-front right planetary joint module, 201-track driven shaft, 202-track inner plate, 203-rocker arm motor, 204-track outer plate, 205-driving shaft synchronous pulley, 206-track support bearing rotating shaft, 207-track Support bearing, 208-driven shaft synchronous pulley, 209-rocker arm rotation motor mounting block, 301-industrial computer, 302-time relay, 303-CAN to ETHERCAT module, 304-contactor, 305-battery, 306-network port, 307-rear charging port, 308-front charging port, 309-emergency stop button, 310-power switch, 311-relay, 312-fuse, 313-regulated power supply, 401-antenna, 402-microphone, 403-wide-angle camera, 404-gas sensor, 405-thermal imaging camera, 406-voice speaker, 407-sensor mounting plate. DETAILED DESCRIPTION

[0028] Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiments are only used to illustrate the present invention and are not used in limiting the scope of the present invention.In addition, should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall equally within the scope limited by the appended claims of the application.

[0029] As shown in Figures 1-4, the present invention provides a deformable ruins search robot, including a sealed cabin 1, a front rocker arm support connecting plate 6 and a rear rocker arm support connecting plate 11 are symmetrically installed on the two opposite side surfaces of the sealed cabin 1, and the rear rocker arm support connecting plate 11 is located on the rear side of the front rocker arm support connecting plate 6. The two front rocker arm support connecting plates 6 and the rear rocker arm support connecting plates 11 are respectively connected to a left front track module 12, a right front track module 13, a rear right track module 9 and a rear left track module 10.

[0030] The sealed cabin 1 is a cavity structure, and the cavity is used to place the electronic control components that control the operation of the robot. In order to prevent the electronic control components from being damaged by water, the cavity structure is set to a sealed structure, specifically: a cabin cover 3 is set on the top surface of the sealed cabin 1 to achieve sealing of the top surface of the sealed cabin 1; an interactive cabin cover 5 is set on the front surface of the sealed cabin 1, and the top edge of the interactive cabin cover 5 is sealed and connected to the top surface of the sealed cabin 1, and a sealing gasket 8 is set between the two to achieve sealing of the front surface of the sealed cabin 1; the battery is placed on the side surface of the sealed cabin 1 and is sealed and connected to the battery cabin cover 7 to prevent rainwater or dust from entering the battery and affecting the battery life.

[0031] The front side of the cavity of the sealed cabin 1 is respectively installed with the front left planetary joint module 15 and the front right planetary joint module 16, which are fixed through the planetary joint module flange 14 and the two front rocker arm support connecting plates 6, so that the left front track module 12 and the right front track module 13 can rotate as a whole around the center of the planetary joint module flange 14, thereby crossing wider and higher ditches and realizing a paddle-like motion configuration; the rear side of the sealed cabin 1 is connected to the rear right track module 9 and the rear left track module 10 through the rear rocker arm support connecting plate 11, thereby forming the entire deformable ruins search robot.

[0032] Each track module includes a driving shaft synchronous pulley 205 and a driven shaft synchronous pulley 208 and a track inner plate 202 and a track outer plate 204 connected to the two. The track 2 is installed on the driving shaft synchronous pulley 205 and the driven shaft synchronous pulley 208. The track inner plate 202 and the track outer plate 204 are arranged parallel to the axial direction of the driving shaft synchronous pulley 205. A rocker motor 203 is provided on the driving shaft of the driving shaft synchronous pulley 205. The rocker motor 203 is connected to the corresponding two front rocker arm supports through the rocker arm rotating motor mounting block 209. The connecting plate 6 is fixedly connected to the two rear rocker arm support connecting plates 11. A track support bearing rotating shaft 206 is provided between the inner track plate 202 and the outer track plate 204. The two ends of the track support bearing rotating shaft 206 in the length direction are respectively connected to the opposite side surfaces of the inner track plate 202 and the outer track plate 204. The track support bearing rotating shaft 206 is symmetrically installed up and down and left and right. A track support bearing 207 is installed on the track support bearing rotating shaft 206. The support bearing 207 is tangential to the surface of the track 2 and rotates with the movement of the track 2. The track module drives the driving shaft synchronous pulley 205 to move through the rocker arm motor 203, thereby driving the track 2 to move. At the same time, the support bearing 207 and the driven shaft synchronous pulley 208 move synchronously under the drive of the track 2.

[0033] The electronic control components include an electronic control module, specifically including a power switch 310, an emergency stop button 309, a network port 306, a rear charging port 307 and a front charging port 308, all of which are made of waterproof materials and installed on the sealed cabin 1, wherein the power switch 310 realizes the start and stop of the entire deformable ruins search robot, and the emergency stop button 309 controls the effective and safe emergency stop protection of the robot; the network port 306 is used for system debugging; the front charging port 308 and the rear charging port 307 are used to power the battery 305; the industrial computer 301, the time relay 302, the CAN to ETHERCAT module 303, the contactor 304, the relay 311, the fuse 312 and the voltage-stabilized power supply 313 are separately installed in the rear compartment of the sealed cabin 1, the industrial computer 301 is used for the overall control of the robot system, the battery 305 is an explosion-proof battery, installed in the middle compartment of the sealed cabin 1 to realize the power supply of the entire robot, and the battery 305 can be taken out by opening the battery compartment cover 7 for quick replacement, so as to facilitate the continuous operation of the robot system.

[0034] The battery 305 supplies power to the entire robot through the contactor 304, fuse 312 and voltage regulator 313, and controls the switching of multiple electrical devices through the relay 311 and time relay 302. The CAN to ETHERCAT module 303 is used for communication interaction between internal devices.

[0035] The electronic control components also include a sensor module, primarily used for rubble search and remote control. Antenna 401 enables remote control of the robot. Microphone 402 and voice speaker 406 enable two-way voice communication between the operator and the rescued personnel. A wide-angle camera 403 assists in observing the robot's motion path and the factory environment, allowing rescuers to plan their routes. A gas sensor 404 monitors the robot's surrounding gas environment, detecting the presence of toxic gases and assisting rescuers in assessing the situation. A thermal imaging camera 405 measures the temperature of the scene and the trapped personnel, allowing rescuers to determine their safety. Antenna 401 is fixed above the front compartment of sealed cabin 1. Microphone 402, voice speaker 406, wide-angle camera 403, gas sensor 404, and thermal imaging camera 405 are all mounted on a sensor mounting plate 407, which is fixed inside the front compartment of sealed cabin 1.

[0036] When the front left planetary joint module 15 and the front right planetary joint module 16 are on standby and only the four rocker motors 203 of the track module are started, the deformable ruins search robot performs a crawler-like motion for traveling on normal ruins terrain; when the left planetary joint module 15 and the front right planetary joint module 16 are started, the two rocker motors 203 of the left front track module 12 and the right front track module 13 are turned off, and only the rocker motors 230 of the rear right track module 9 and the rear left track module 10 are turned on, the robot performs a paddle-like motion for traveling on snow or mud. Muddy ground, used for climbing slopes or climbing over high suspended obstacles; when the left planetary joint module 15 and the front right planetary joint module 16 rotate to a specific angle, and only the front tracks of the left front track module 12 and the right front track module 13 are on the ground, the robot performs a wheel-track combined motion, which can be used for wading or crossing obstacles, raising the bottom of the robot off the ground or lowering the robot off the ground to pass through lower ruins. The robot can achieve terrain adaptation in different scenarios through a variety of motion transformations, improving the robot's search and travel capabilities under ruins. At the same time, the robot has been developed with adaptive functions. For different terrains, the industrial computer 301 can autonomously control the left planetary joint module 15, the front right planetary joint module 16, and the rocker motor 203 to adjust the motion mode, realizing a combination of different motion forms.

[0037] The switch button installation position of the robot adopts a sunken design, and the left planetary joint module 15, the front right planetary joint module 16 and the rocker motor 203 can all be controlled independently. When the robot moves and rolls over, it can be corrected by individually controlling the left planetary joint module 15 or the front right planetary joint module 16 in combination with the rocker motor 203.

[0038] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and improvements are possible without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed for the present invention is defined by the appended claims and their equivalents.

Claims

1. A deformable ruins search robot, characterized in that: include: Sealed cabin; A support assembly is provided on the side wall of the sealed cabin and is used to support the sealed cabin; The crawler module is arranged at the bottom of the support assembly and is used to drive the sealed cabin to move; as well as The planetary joint module is arranged inside the sealed cabin. The planetary joint module is connected to the support assembly located in the forward direction, driving the support assembly to perform axial rotational motion.

2. The deformable ruins search robot according to claim 1, characterized in that: The track module includes a rotating component and a track arranged on the rotating component. The rotating component is connected to a rocker motor, which is connected to a corresponding support assembly to provide the support assembly with power to orbit the planetary joint module.

3. The deformable ruins search robot according to claim 2, characterized in that: The rotating component includes a driving shaft synchronous pulley and a driven shaft synchronous pulley that rotates with the driving shaft synchronous pulley. The outer periphery of the two is provided with crawlers, which transmit motion as the driving shaft synchronous pulley rotates.

4. A deformable ruins search robot according to claim 2 or 3, characterized in that: The opposite side surfaces of the driving shaft synchronous pulley are respectively provided with inner track plates and outer track plates parallel to each other, and a track support bearing rotating shaft is provided between the two. The two ends of the track support bearing rotating shaft in the length direction are respectively connected to the opposite side surfaces of the inner track plate and the outer track plate, and a track support bearing is installed on the track support bearing rotating shaft. The support bearing is tangent to the surface of the track and rotates with the movement of the track.

5. The deformable ruins search robot according to claim 2, characterized in that: The support assembly includes a front rocker arm support connecting plate and a rear rocker arm support connecting plate which are arranged on two opposite side surfaces of the sealed cabin body, and the rear rocker arm support connecting plate is located at the rear side of the front rocker arm support connecting plate.

6. The deformable ruins-searching robot according to claim 5, characterized in that: The rocker arm motor is respectively connected and fixed to the corresponding two front rocker arm support connecting plates and two rear rocker arm support connecting plates through the rocker arm rotating motor mounting block.

7. The deformable ruins search robot according to claim 2, characterized in that: The crawler module includes a left front crawler module, a right front crawler module arranged opposite to the left front crawler module, and a rear left crawler module and a rear right crawler module located at the rear sides of the left front crawler module and the right front crawler module.

8. The deformable ruins-searching robot according to claim 1, characterized in that: The sealed cabin is a cavity structure, and the cavity is partitioned with an electronic control module for controlling the start and stop of the entire machine and motion control, and a sensor module for searching for ruins.

9. The deformable ruins-searching robot according to claim 8, characterized in that: The electric control module includes a power switch to start and stop the entire deformable ruins search robot; Emergency stop button to control the robot's effective and safe emergency stop protection; Batteries, used to power the entire robot; Charging port, used to power the battery; The industrial computer is installed in the rear cavity of the sealed cabin and is used for the overall control of the robot system; CAN to ETHERCAT module, used for communication interaction between internal devices.

10. A deformable ruins-searching robot according to claim 8 or 9, characterized in that: The sensing module includes: Gas sensor: used to detect the gas environment around the robot, detect whether there is toxic gas, and be used by rescue personnel to evaluate the rescue; A wide-angle camera is used to assist in observing the robot's motion path and the factory situation, which is used by rescuers to plan rescue routes. Thermal imaging cameras are used for on-site temperature detection and temperature observation of trapped people, making it easier for rescuers to determine the safety status of trapped people. The antenna is installed above the sealed cabin to realize the remote control of the robot; The communication module enables two-way voice communication between rear operators and rescued personnel.

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